AROC: A toolbox for automated reachset optimal controller synthesis

Niklas Kochdumper, Felix Gruber, Bastian Schürmann, Victor Gaßmann, Moritz Klischat, Matthias Althoff

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

10 Scopus citations

Abstract

We present a MATLAB toolbox for Automated Reachset Optimal Control (AROC) that automatically synthesizes verified controllers for solving reach-avoid problems using reachability analysis. The toolbox implements two different types of control approaches: When using our verified model predictive controller, a feasible control law is constructed and verified on-the-fly during online application of the system. For motion-primitive-based control, on the other hand, controllers for many motion primitives are synthesized offline and then used for online motion planning with a maneuver automaton. Since our toolbox considers general nonlinear systems with input constraints, state constraints, and bounded disturbances, it is applicable to a very broad class of systems, as we demonstrate with several numerical examples. AROC is available at https://aroc.in.tum.de.

Original languageEnglish
Title of host publicationHSCC 2021 - Proceedings of the 24th International Conference on Hybrid Systems
Subtitle of host publicationComputation and Control (part of CPS-IoT Week)
PublisherAssociation for Computing Machinery, Inc
ISBN (Electronic)9781450383394
DOIs
StatePublished - 19 May 2021
Event24th ACM International Conference on Hybrid Systems Computation and Control, HSCC 2021, held as part of the 14th Cyber Physical Systems and Internet-of-Things Week, CPS-IoT Week 2021 - Virtual, Online, United States
Duration: 19 May 202121 May 2021

Publication series

NameHSCC 2021 - Proceedings of the 24th International Conference on Hybrid Systems: Computation and Control (part of CPS-IoT Week)

Conference

Conference24th ACM International Conference on Hybrid Systems Computation and Control, HSCC 2021, held as part of the 14th Cyber Physical Systems and Internet-of-Things Week, CPS-IoT Week 2021
Country/TerritoryUnited States
CityVirtual, Online
Period19/05/2121/05/21

Keywords

  • controller synthesis
  • maneuver automata
  • model predictive control
  • reach-avoid problems
  • reachability analysis

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